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1)
Switch to the directory where the corresponding [launch file] is located, edit the file, and its
content is as shown in the figure:
FIG 19 X4 .LAUNCH FILE
Note: For more information about the file contents, please refer to:
https://github.com/YDLIDAR/ydlidar_ros_driver#configure-ydlidar_ros_driver-internal-parameter
2)
The X4PRO lidar coordinates follow the right-hand rule within ROS, with an angle range of [-
180, 180]. "angle_min" is the start angle, and "angle_max" is the endangle. The specific scope
needs to be modified according to actual use.
FIG 20 YDLIDAR X4PRO COORDINATES DEFINITION
$ vim X4.launch
